Thanks for your help. I may need some more help being I am poor at code. Your code is way over my head! I have gotten Adafruit Motor/Stepper/Servo Shield for Arduino v2.3 in as far as the first part of moveToPosition functions with the following.....
//Code to use Adafruit motor shield library
but when I looked, to modify the findLimits function and tried to understand, I knew I was over my head. I have looked at this for two days. if i get the project working I will show it to you. i hope this is enough tease to get your interest.